EP2223426A1 - Verfahren zum betrieb einer rotierenden elektrischen maschine - Google Patents
Verfahren zum betrieb einer rotierenden elektrischen maschineInfo
- Publication number
- EP2223426A1 EP2223426A1 EP08865335A EP08865335A EP2223426A1 EP 2223426 A1 EP2223426 A1 EP 2223426A1 EP 08865335 A EP08865335 A EP 08865335A EP 08865335 A EP08865335 A EP 08865335A EP 2223426 A1 EP2223426 A1 EP 2223426A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- switching state
- trajectory
- sampling time
- values
- fpga
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/30—Direct torque control [DTC] or field acceleration method [FAM]
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
Definitions
- the invention relates to the field of operating methods of rotating electrical machines. It is based on a method for operating a rotating electrical machine according to the preamble of the independent claims.
- Today high power voltage converter circuits are used in many applications. Such a converter circuit commonly switches three voltage levels and is often used for the operation of rotating electrical machines, in particular in synchronous and asynchronous machines, which rotary electric machines usually have three stator windings. In a common method for operating a rotating electrical machine, it is connected in phase with such a direct current circuit having a DC circuit for switching generally m voltage levels, where m> 2.
- the DC voltage circuit is in a converter circuit for switching typically three voltage levels through a first capacitor and a second connected in series with the first capacitor
- the DC voltage circuit has a first main connection on the first capacitor, a second main connection on the second capacitor, and a partial connection formed by the two capacitors connected in series.
- the converter circuit for switching three voltage levels comprises power semiconductor switches, which are connected in the usual way.
- Fig. 1 an embodiment of a conventional three-phase converter circuit for switching three voltage levels is shown.
- the phases of the converter circuit are generally connected to the DC voltage circuit according to a selected switching state combination of switching states of the power semiconductor switches of the converter circuit.
- the phases of the converter circuit are accordingly connected to the first main connection, to the second main connection or to the partial connection according to a selected switching state combination of switching states of the power semiconductor switches of the converter circuit.
- the selection of the corresponding switching state combinations takes place, for example, according to the well-known "Direct Torque Control" (DTC - JDirect Torque Control), in which the current actual value of the torque of the rotating electrical machine, the magnetic stator flux of the rotating electrical machine and the potential at the partial connection initially each with a associated predetermined range of values are compared.
- the respective predetermined value range is or may be time-variant and is commonly determined by a higher-order control loop from reference values of the torque of the rotating electrical machine, the magnetic stator flux of the rotating electrical machine and the potential at the partial connection.
- a switching state combination is selected from a table as a function of the preceding selected switching state combination so that the current value resulting from this switching state combination could at most be within the associated value range again Warranty exists.
- a switching state combination is always only selected either with respect to the current actual value of the torque, the magnetic stator flux or the potential when the associated value range is exceeded. A common consideration of the current actual value of the torque, the magnetic stator flux and the potential does not take place.
- a problem with a method described above for operating a rotating electrical machine by means of the known "direct torque control” is that there are typically several transitions between the preceding selected switching state combination and the currently selected switching state combination, which are illustrated in FIG. 2 as lines between the switching state combinations.
- the switching state combinations and the transitions from one switching state combination to another are generally stored permanently in the table, wherein typically not all possible combinations of switching state combination according to FIG. 2 are stored in the table.
- only one switching state combination is selected as a function of the preceding selected switching state combination with the associated transitions, which is stored in the table and which brings back the current value resulting from the selected switching state combination within the associated value range.
- selected switching state combinations in particular with possibly fewer transitions to the previous selected switching state combination are not stored in the table.
- multiple transitions between switching state combinations generate a large number of switching operations of the power semiconductor switches of the converter circuit, as a result of which the switching frequency of the power semiconductor switches increases.
- such a high switching frequency generates heat losses (higher energy consumption) in the power semiconductor switches of the converter circuit, as a result of which the power semiconductor switches can age, damage or even be destroyed more quickly.
- a method for operating a rotating electrical machine by means of which the switching frequency of power semiconductor switches of a converter circuit connected in phase with the rotating electrical machine can be reduced for the purpose of switching m voltage levels, where m> 2.
- the phases of the converter circuit with the DC circuit are selected according to a selected switching state combination of switching circuits. States of power semiconductor switches of the converter circuit connected. The selection of this switching state combination takes place in the following further steps:
- each switching state sequence being a sequence of determined switching state combinations of the N sampling times belonging to the respective switching state combination k at the start sampling instant k,
- step (b) to (e) are typically carried out on a digital signal processor, wherein steps (b) to (e) are then, for example, as a loadable computer program are realized.
- the multiplicity of calculation steps of the method according to EP 1 670 135 A1 represent a problem with regard to the computing power for a digital signal processor, so that very long and therefore unacceptable computing times of the digital signal processor and thus also long execution times of the method steps arise from which then a non-timely connection of the phases of the converter circuit with the DC circuit after the selected switching state combination of switching states of the power semiconductor switches may result.
- the object of the invention is therefore to develop a method for operating a rotating electrical machine such that the computation time of the calculation steps of the method and thus the execution time of the method steps is as small as possible and which method switching state combinations with each associated Wheelmomenttra- jectorie and magnetic Statorhnetrajektorie, which torque trajectory or magnetic Statorhnetrajektorie outside the predetermined range of values are, can handle.
- This object is solved by the features of claim 1 and by claim 2.
- advantageous developments of the invention are given.
- the rotating electrical machine is connected in phase with a converter circuit having a direct current circuit for switching m voltage levels, with m> 2.
- the phases of the converter circuit are connected to the DC voltage circuit in accordance with a selected switching state combination of switching states of power semiconductor switches of the converter circuit. The selection of this switching state combination takes place in the following further steps: (b) starting with a start sampling instant k for a selectable number N sampling times:
- the switching state combination is selected in the following further steps:
- the switching status combination can also be selected according to the following further steps: (m) for each switching state sequence (SSK) and for the sampling instant k up to the sampling instant k + N determination of the maximum value (v max from the torque violation values (v M , k, - -, v M , k + N) and the stator flux violation values (v s , k, - -, v s , k + N) by means of the FPGA,
- the digital signal processor used which is used for the method step (e1) , only for the necessary for the step (e1) of the method, the calculation steps used, so that step (e1) requires only a short computing time.
- the intermediate state value sets calculated in step (e1) are advantageously already available after a very short time and can then be used directly by the FPGA, in particular for the method steps (d), ie for the method steps (b) and (c), and for the method steps (e2) to (k) are used, the FPGA also processes these method steps in a very short time, in particular by its possibility of parallel calculation of serial computation sequences.
- the computing time of the calculation steps of the method and thus the execution time of the method steps can advantageously be kept small by using the FPGA in conjunction with the digital signal processor, so that the connection of the phases of the converter circuit with the DC voltage circuit after Selected switching state combination of switching states of the power semiconductor switch is always timely.
- the optimum switching state combination always advantageously results from the preceding selected switching state combination and with respect to the number of transitions from the preceding selected switching state combination to the selected switching state combination and with respect to the respective predetermined value range for the rotating electrical machine torque and selected for the magnetic stator flux of the rotary electric machine.
- This advantageously reduces the number of switching operations of the power semiconductor switches of the converter circuit and thus reduces the switching frequency of the power semiconductor switches.
- the reduced switching frequency means that less heat losses are generated in the power semiconductor switches, as a result of which the power semiconductor switches age more slowly and can be largely protected against damage or destruction.
- the respective value ranges are better respected overall.
- the method according to the invention makes it possible to predict the behavior of the rotating electrical machine for more than one sampling instant for certain switching state sequences, the horizon of N sampling times after application of steps (a) to (k) by step (p) Sampling time is shifted and then but only the first switching state combination, in particular the k-th switching state combination, a switching state sequence is selected. A quality criterion then approximates or forms the switching frequency.
- the switching state combinations with respect to all relevant quantities, in particular the torque and the magnetic stator flux are considered together when the associated value range is exceeded.
- the optimum switching state combination is always selected with advantage for the case in which the respectively associated torque trajectory or the magnetic stator flux trajectory lies outside the predetermined value range.
- the inventive method is capable of switching state combinations, each with associated torque trajectory and magnetic Statorhnetrajektorie, which exceptionally are half of the predetermined range of values to be able to handle. As a result, unrestricted operation of the rotary electric machine is now possible.
- FIG. 1 shows an embodiment of a three-phase converter circuit for switching three voltage levels
- FIG. 1 shows an embodiment of a three-phase converter circuit 2 for switching three voltage levels, wherein a rotating electrical machine 1 is connected in phase with a DC voltage circuit 3 converter circuit 2.
- the rotary electric machine 1 may be connected to a converter circuit 2 for switching m voltage levels, in which case m> 2.
- the DC voltage circuit 3 formed by a first capacitor Ci and by a series-connected to the first capacitor Ci second capacitor C 2 , wherein Ci value-wise substantially equal to C 2 .
- the DC voltage circuit 3 according to the exemplary embodiment of a converter circuit for switching three voltage levels according to FIG.
- the converter circuit according to FIG. 1 comprises a partial converter system 4 provided for each phase u, v, w, which is formed by a first switching group 5, by a second switching group 6 and by a third switching group 7, each switching group 5, 6 7 is formed by two series-connected power semiconductor switches. Furthermore, in each partial converter system 4, the first switching group 5 is connected to the first main terminal V + and the second switching group 6 is connected to the second main terminal V-.
- the first switching group 5 is connected in series with the second switching group 6, wherein the connection point of the first switching group 5 with the second switching group 6 forms a phase connection.
- the third switching group 7, which is designed as a terminal switching group, is connected to the first switching group 5, in particular to the connection point of the two series-connected power semiconductor switches of the first switching group 5.
- the third switching group 7 is connected to the second switching group 6, in particular to the connection point of the two series-connected power semiconductor switches of the second switching group 6.
- the third switching group 7, in particular the connection point of the two series-connected power semiconductor switches of the third switching group 7, is connected to the partial connection NP. According to FIG.
- the power semiconductor switches of the first and second switching groups 5, 6 are designed as controllable bidirectional power semiconductor switches, the power semiconductor switches of the third switching group 7 being designed as unidirectional non-controllable power semiconductor switches. But it is also conceivable that the power semiconductor switch of the third switching group 7 are formed as controllable bidirectional power semiconductor switch.
- the phases u, v, w of the converter circuit 2 which is generally a converter circuit 2 for switching m voltage levels, are now in a first step (a) with the DC voltage circuit 3 according to a selected switching state combination SK a, k of switching states of the power semiconductor switches of Umricht- Connection 2 connected.
- a state diagram of switching state combinations of a converter circuit 2 for switching three voltage levels is shown by way of example in FIG.
- step (b) starting with a start sampling instant k for a selectable number N sampling times, all permissible switching state combinations SK k ,..., SK k + N at each of the N sampling times, preferably starting from the respective preceding specific switching state combination SK k. 1 , where N> 1, and preferably wherein the first preceding specific switching state combination SK k-1 is the preceding selected switching state combination SK a k-1 , ie, at the sampling instant k-1.
- switching state sequences SSK are formed for each determined switching state combination SK k for Startabtastzeitpraxis k, each switching state sequence SSK a sequence of k to the respective switching state combination SK k for Startabtastzeit Vietnamese associated specific switching state combinations SK k, ..., SK k + N of N sampling times is.
- a switching state sequence SSK exemplarily represents a number of possible switching state combinations SK k ,..., SK k + N according to FIG. 2 along the associated lines to one of the possible switching state combinations SK k at the start sampling instant k.
- step (d) the determination after step (b) and formation after step (c) by means of a Field Programmable Gate Arrays (FPGA).
- step (e1) calculation of intermediate state value sets Y e , k , ---, Y e , k + N of the rotary electric machine 1 and the inverter circuit 2 for the start sampling time k to the sampling time k + N is performed by a digital signal processor.
- step (e2) the state value sets X e , k , ---, X e , k + N are then calculated from switching state sequences SSK and from the calculated state intermediate value sets Y e , k , ---, Y e , k + N using the FPGA.
- step (f) for each of the switching state sequences SSK, a torque trajectory M of the rotating electrical machine 1 and a magnetic stator flux trajectory ⁇ of the rotating electrical machine 1 are calculated from the calculated state value sets X e , k , ---, X e , k + N of the rotary electric machine and the inverter circuit for the start sampling time point k to the sampling time k + N calculated by the FPGA.
- the torque trajectory M of the rotating electrical machine 1 and the magnetic stator flux trajectory ⁇ then contain trajectory values M ⁇ , k + 2, ⁇ ⁇ , M ⁇ , k + N and the trajectory values ⁇ , k + 2, ⁇ ⁇ , ⁇ , k + N-
- Each of the aforementioned state intermediate value sets Y e , k,..., Y e , k + N includes, for example, two stator flux values ⁇ e si, k > ---, ⁇ SU + N; ⁇ e s2, k > --- > ⁇ eS2, k + N, two rotor flux values ⁇ eRi.k, ..., ⁇ eRi, k + N; ⁇ e R2, k .--- > ⁇ eR2, k + N and optionally a speed value V e , k,..., V e , k + N
- V e , k + N For calculating the state intermediate value sets Y e ,
- the calculation of the state value sets X e , k ,..., X e , k + N is iterative, ie for the calculation of the state value set X e , k + i at the sampling time k + 1, the preceding state intermediate value set Y ek at the sampling time k and the switching state sequences SSK are used for the specific switching state combinations SK k at the sampling time k.
- the digital signal processor is therefore necessary only for the for the step (e1) of the process of the calculation steps, that is used to calculate the Goods stronglyenersdorf- ze Y e, k .- ", Y e, k + N.
- step (e1 ) calculated surroundingsszwi- rule sets of values Y e, k, - .., Y e, k + N, with advantage after a very short time available and may be prepared by the FPGA then immediately to calculate the state value sets X e, k, ---, X e , k + N and then be used for calculating the torque trajectory M and the magnetic stator flux trajectory ⁇
- a number of calculation steps are required for the calculation of a trajectory value M ⁇ , k, ⁇ ⁇ , M ⁇ , k + N of the torque trajectory M, such as additions, multiplications and the like necessary, these calculation steps are advantageously processed by the FPGA serially, so that a serial calculation sequence (so-called "pipelining") arises.
- the calculation of a trajectory value ⁇ , k > ⁇ > ⁇ , k + N of the magnetic stator flux trajectory ⁇ is calculated by the FPGA in an analogous manner, the serial calculation sequence for calculating a trajectory value M ⁇ , k , ⁇ ⁇ , M ⁇ , k + N of the torque trajectory M advantageously parallel to the calculation sequence for calculating a trajectory value ⁇ ⁇ , k, ⁇ ⁇ , ⁇ , k + N of the magnetic Statorhnetrajektorie ⁇ runs in the FPGA, which can be effectively saved processing time.
- the switching state combination (SK a, k ) is selected in the following steps (g) to (k) if the torque trajectory (M) is at the k th sampling time does not exceed a predetermined upper value range limit (y M , ma ⁇ ) or does not fall below a predefined lower value range limit (y M mm ) and if the magnetic stator flux trajectory ( ⁇ ) reaches a predetermined upper value range limit (ys m a x ) at the k th sampling time does not exceed or does not fall below a predefined lower value range limit (ys m i n ).
- the switching state sequences SSK 3 are then selected by means of the FPGA, in which an associated torque trajectory M and a magnetic stator flux trajectory ⁇ at the (k + N) -th sampling time are each within a predetermined value range.
- the torque M menttrajektorie the range of values defined by a predetermined upper value range limit yM.max and a predetermined lower value range limit y M, m ⁇ n.
- the stator flux trajectory ⁇ the value range is determined by a predetermined upper value range limit ys.max and a predetermined lower value range limit y s , mm.
- the respectively given value range is time-variant and is usually determined by a superordinate control circuit from reference values of the torque of the rotating electrical machine 1 and of the magnetic stator flux of the rotating electrical machine 1, with those skilled in the art knowing such control circuits.
- a control loop is implemented on the digital signal processor, ie the range of values is provided by the digital signal processor.
- the switching state sequences SSK 3 are selected in which the trajectory values M ⁇ , k, ⁇ ⁇ , M ⁇ , k + N of an associated torque trajectory M and the trajectory values ⁇ ⁇ , k, ⁇ ⁇ , ⁇ , k + N an associated magnetic Statorhnetrajekto- rie ⁇ with respect to the k-th sampling time to (k + N) th sampling time approaches the respective predetermined range of values.
- step (h) is then the number of times n by means of the FPGA determined for each of the selected switching state sequences SSK 3 until the extrapolation of the trajectory values ⁇ m, k + ⁇ Ni, M, k + N of the associated torque trajectory M or the trajectory values ⁇ , k + N- 1 , ⁇ , k + N of the magnetic stator flux trajectory ⁇ with respect to the (k + N-1) th sampling time and (k + N) th sampling time outside the respective predetermined value range. is rich, ie until one of the extrapolations leaves the respective predetermined value range first or intersects the limits of the respective predetermined value range.
- the above-mentioned determination by the FPGA also advantageously runs serially (so-called "pipelining")
- the respective extrapolation for the two upper relevant torque trajectories M is shown in dashed lines in Fig. 3, the extrapolation of the one upper relevant torque trajectory M
- the predetermined value range already leaves at k + 3
- the extrapolation of the other upper relevant torque trajectory M which is bordered by dashed lines for better identification, but is still within the predetermined value range at k + 3.
- step (i) the total number of switching transitions s of the associated specific switching state combinations SK k ,..., SK k + N is determined for each of the selected switching state sequences SSK 3 by means of the FPGA.
- This determination by the FPGA also advantageously proceeds serially (so-called "pipelining").
- a quality value c is calculated from the number of times n and the total number of switching transitions s by means of the FPGA.
- the quality value c is calculated by dividing the total number of switching transitions s by the number of times n. This calculation by the FPGA advantageously proceeds serially (so-called "pipelining").
- the particular switching state combination SK k at the start sampling instant k is then set as the selected switching state combination SK a , k by means of the FPGA, at which the quality value c of the associated selected switching state sequence SSK 3 is the smallest.
- the aforementioned setting by the FPGA advantageously proceeds serially (so-called "pipelining").
- step (I) instead of step (f1), the torque trajectory M at the kth sampling time now becomes a predetermined upper value range limit y M.
- m a x exceeds or falls below a predetermined lower value range limit y M , m ⁇ n , by means of the FPGA on the upper and lower range limits y M , m m, yM, max related torque violation value v M , k , ..., v M , ⁇ + N for the sampling instant k to the sampling instant K + N.
- step (m) for each switching state sequence SSK and for the sampling instant k up to the sampling instant K + N, the maximum value v max is calculated from the torque violation values VM, k.- -.
- step (n) the sum Sv m a x x is then formed for the maximum values v max for each switching state sequence SSK.
- step (o) that particular switching state combination SK k at the start sampling instant k is set as the selected switching state combination SK ak by means of the FPGA, in which the sum S vm a x of the maximum values v max is smallest.
- N is constant for each of the steps (a) to (I).
- the digital signal processor used which is used for the method step (e1) just for the sake of Step (e1) of the method necessary to use the calculation steps, so that step (e1) requires only a short computing time.
- the intermediate state value sets Y e , k .---, Y e , k + N calculated in step (e1) are advantageously already available after a very short time and can then be used by the FPGA directly, in particular for the method steps (d), ie for the method steps (b) and (c), and for the method steps (e2) to (k) continue to be used, the FPGA these steps also in a very short time, in particular by its possibility of parallel calculation of serial Calculation sequences, processed.
- the determination proceeds sequentially after step (h) to (k) through the FPGA.
- the computing time of the calculation steps of the method and thus the execution time of the method steps can advantageously be kept small by using the FPGA in conjunction with the digital signal processor, so that the connection of the phases u, v, w of the converter circuit 2 with the DC voltage circuit 3 after selected switching state combination SK a, k of switching states of the power semiconductor switch is always timely.
- steps (b) to (k) and in particular by the extrapolation it is also possible to make a prediction for the further behavior of the overall system, ie the rotating electrical machine 1 and the associated converter circuit 2, and thereafter with advantage always the optimal switching state combination SK a , k from the preceding selected switching state combination SK a, k-1 and with respect to the number of transitions from the previous selected switching state combination SK a, k -i to the selected switching state combination SK ak and with respect to the respective predetermined value range for the torque to select rotating electric machine 1 and for the magnetic stator flux of the rotary electric machine 1.
- This advantageously reduces the number of switching operations of the power semiconductor switches of the converter circuit 2 and thus reduces the switching frequency of the power semiconductor switches. Due to the reduced switching frequency, the power semiconductor switches advantageously generate less heat losses and thus have lower energy consumption, so that the power semiconductor switches can age more slowly and can be largely protected from damage or destruction.
- steps (I) to (o) it is advantageous for the case in which the respectively associated torque trajectory M or the magnetic stator flux trajectory ⁇ outside the predetermined range of values, the optimum switching state combination SK a , k is always selected.
- the method according to the invention is able to handle switching state combinations with respectively associated torque trajectory M and magnetic stator flux trajectory ⁇ , which are outside the predetermined value range.
- an unrestricted operation of the rotary electric machine 1 is advantageously possible.
- the converter circuit 2 then has 3 m-2 partial connections NP at the DC voltage circuit.
- step (f) of the method according to the invention this means that for each of the switching state sequences SSK there are additionally m-2 potential trajectories U NP for potentials at the m-2 partial junctions NP from state value sets X e , k , ---, X e , k + N of the rotary electric machine 1 and the inverter circuit 2 for the start sampling time point k to the sampling time point k + N are calculated by the FPGA.
- the aforementioned calculation is carried out analogously to the already explained calculation of the corresponding torque trajectory M of the rotating electrical machine 1 and magnetic stator flux trajectory ⁇ of the rotating electrical machine 1.
- the switching state sequences SSK 3 are selected by means of the FPGA which additionally associated m-2 Potentialtrajektorien U NP to the (k + N) -th sampling time are each within a predetermined value range, or in which, in addition, the trajectory values U N p, k, ..., UN P, k + N m associated -2 approximate the potential trajectories U NP with respect to the k-th sampling time to the (k + N) -th sampling time to the respective predetermined value range.
- the value range is determined by a predetermined upper value range limit yNP.max and a predetermined lower value range limit yNP.mm.
- n is determined by the FPGA until the extrapolation of the trajectory values M ⁇ , k + Ni, M ⁇ , k + N of the associated torque trajectory M or the trajectory values ⁇ , k + Ni, ⁇ , k ⁇ + N of the magnetic Statorhnetrajektorie or the trajectory values U N p, k + Ni, U N p, k + N m-2 Potentialtrajektorien U N p with respect to the (k + N -1) - th sampling time and (k + N) -th sampling time outside the respective pre- range of values. It is understood that for m> 3, steps (a) to (e2) and (i) to (k) are maintained.
- steps (b) and (c) are generally suspended and a switching state sequence SSK is formed for the preceding selected switching state combination SK ak -i by means of the FPGA, wherein the switching state sequence SSK then precedes N preceding each other selected switching state combination SK ak is -I, and also the previous selected switching state combination SK ak -i as the selected switching state combination SK a, k is set by means of the FPGA and applied finally step (f) and subjected to the steps (f1) to (o) if the Trajectory values M ⁇ , k, ⁇ , M ⁇ , k + N of the associated torque trajectory M and the trajectory values ⁇ ⁇ , k, ⁇ ⁇ , ⁇ , k + N of the associated magnetic stator flux trajectory ⁇ with respect to the k th sampling time to (k + N) -th sampling time within the respective predetermined value range.
- step (b) and (c) are suspended in the further step (q) and a switching state sequence SSK for the preceding selected switching state combination SK a , k -i is formed by means of the FPGA, the switching state sequence SSK then being a Sequence of N preceding selected switching state combination SK a , k -i is, and also the preceding selected switching state combination SK a , k - 1 is set as the selected switching state combination SK a , k by means of the FPGA, and finally step (f) is applied and the steps (f1) to (o) are suspended if the trajectory values M ⁇ , k, ⁇ ⁇ , M ⁇ , k + N of the associated torque trajectory m, the trajectory values ⁇ ⁇ , k, ⁇ ⁇ , ⁇ , ⁇ k + N of the associated magnetic Statorhne and the trajectory values U N p, k, ..., UN P, k + N of associated m-2 Potential
- steps (b) and (c) and steps (f) to (o) are suspended. It is understood that the steps (b) to (o) are then applied and the further step (q) is not applied if the above criteria for the trajectory M ⁇ , k, ⁇ ⁇ , M ⁇ , k + N ; ⁇ , k> ⁇ >> ⁇ , k + N; U N p, k, ..., U N, k + N are not met p.
- step (f) of the method according to the invention means that, for each of the switching state sequences SSK, additionally m-2 potential trajectories U NP for potentials at the m-2 sub-terminals NP are calculated by means of the FPGA. Further, with respect to step (I), if the m-2 potential trajectories U NP at the k-th sampling time becomes a predetermined upper range limit yN P.
- m a x exceeds proceeds or a predetermined lower value range limit y N p, mm below, one on the upper and lower value range limit y N p, mm, YNP, ma ⁇ -related potential infringement value v N p, k, ..., v NP, ⁇ + N calculated by means of the FPGA for the sampling time k up to the sampling instant K + N for each potential trajectory U NPP and with respect to step (m) for each switching state sequence SSK and for the sampling instant k up to the sampling instant K + N the maximum value v max addition of the potential violation of values v N p, k, ..., VN P, N + ⁇ determined by means of the FPGA.
- step (m) for each switching state sequence SSK and for the sampling instant k up to the sampling instant K + N, the sum S N p, v is additionally obtained from the potential violation values v N p, k , ..., VN P, ⁇ + formed N and with respect to step (n) is then repeated for each switching state sequence SSK the maximum value v max in addition from the sum S N p, v formed of potential injury values v N p, k, ..., v NP, ⁇ + N ,
- the predetermined upper range limit y M. m a x the calculation of the torque violation value v M , k, - -, v M , ⁇ + N relating to the upper and lower value range limits y M , m, n , y M , max takes place for the sampling instant k up to the sampling instant K + N according to the following formula y M max
- the predetermined lower value range limit y M, m ⁇ n the calculation of the related to the upper and lower value range limit y M, m ⁇ n, y M, max torque infringement value V M, k .- takes place - -.
- M ⁇ , k, - -, M T , K + N are the trajectory values of the torque trajectory M for the sampling instant k up to the sampling instant K + N.
- the stator flux violation value vs, k related to the upper and lower value range limits y s , mm , ys, m a x is calculated. , vs, ⁇ + N for the sampling time k up to the sampling time K + N according to the following formula ys, max On the other hand, if the magnetic stator flux trajectory ⁇ falls short of the predetermined lower value range limit ys at the kth sampling instant.
- stator flux violation value v s , k , - -, vs, ⁇ + N relating to the upper and lower value range limits y s , mm , ys, m a x is calculated for the sampling instant k up to the sampling instant K + N according to the following formula ⁇ , k.- -. ⁇ T , K + N are the trajectory values of the magnetic Statorhnetrajektorie ⁇ for the sampling time k to the sampling time K + N.
- the predetermined upper value range limit yN P. exceed m a x is carried out calculation of the upper and lower value range limit y N p, mm, YNP, max-related potential infringement value v NP, k, ..., v NP, ⁇ + N for the sampling time k to the sampling time K + N according to the following formula
- the potential violation value v N p relating to the upper and lower range limits y N p, mm, yNP, max is calculated , k , - -, VN P , ⁇ + N for the sampling time k up to the sampling time K + N according to the following formula where U ⁇ , k > - - > U ⁇ , ⁇ + N are the trajectory values of the m-2 potential trajectories U N p for the sampling instant k up to the sampling instant K + N.
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Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP08865335A EP2223426B1 (de) | 2007-12-20 | 2008-11-12 | Verfahren zum betrieb einer rotierenden elektrischen maschine |
PL08865335T PL2223426T3 (pl) | 2007-12-20 | 2008-11-12 | Sposób działania wirującej maszyny elektrycznej |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07150189 | 2007-12-20 | ||
EP08865335A EP2223426B1 (de) | 2007-12-20 | 2008-11-12 | Verfahren zum betrieb einer rotierenden elektrischen maschine |
PCT/EP2008/065354 WO2009080407A1 (de) | 2007-12-20 | 2008-11-12 | Verfahren zum betrieb einer rotierenden elektrischen maschine |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2223426A1 true EP2223426A1 (de) | 2010-09-01 |
EP2223426B1 EP2223426B1 (de) | 2011-08-31 |
Family
ID=39596326
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08865335A Not-in-force EP2223426B1 (de) | 2007-12-20 | 2008-11-12 | Verfahren zum betrieb einer rotierenden elektrischen maschine |
Country Status (11)
Country | Link |
---|---|
US (1) | US8222845B2 (de) |
EP (1) | EP2223426B1 (de) |
JP (1) | JP5474818B2 (de) |
KR (1) | KR101520518B1 (de) |
CN (1) | CN101904086B (de) |
AT (1) | ATE522978T1 (de) |
CA (1) | CA2705721A1 (de) |
ES (1) | ES2371803T3 (de) |
PL (1) | PL2223426T3 (de) |
RU (1) | RU2464699C2 (de) |
WO (1) | WO2009080407A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2348631B1 (de) * | 2010-01-22 | 2012-09-19 | ABB Research Ltd. | Steurung einer rotierenden elektrischen Maschine |
EP2469692B1 (de) * | 2010-12-24 | 2019-06-12 | ABB Research Ltd. | Verfahren zur Umrichtersteuerung |
KR101381112B1 (ko) * | 2011-11-30 | 2014-04-14 | 한국식품연구원 | 홍삼을 이용한 홍경천 발효물의 제조방법 및 그 발효물을 포함하는 피로 회복 및 운동능력 향상용 조성물 |
EP2725706A1 (de) * | 2012-10-23 | 2014-04-30 | ABB Technology AG | Prognostische Modellsteuerung mit Bezugsverfolgung |
WO2016202623A1 (en) | 2015-06-16 | 2016-12-22 | Abb Schweiz Ag | Fpga-based model predictive control |
US10459472B2 (en) * | 2015-12-07 | 2019-10-29 | Hamilton Sundstrand Corporation | Model predictive control optimization for power electronics |
EP3614218B1 (de) | 2018-08-22 | 2022-04-06 | Technische Hochschule Nuernberg Georg-Simon-Ohm | Kaskadierte kontinuierliche und finite modellprädiktive regelung für mechatronische systeme |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4088934A (en) * | 1976-10-04 | 1978-05-09 | General Electric Company | Means for stabilizing an a-c electric motor drive system |
RU2193814C2 (ru) * | 1997-03-19 | 2002-11-27 | Хитачи Лтд. | Устройство и способ управления асинхронным электродвигателем |
US6819078B2 (en) | 2002-10-15 | 2004-11-16 | International Rectifier Corporation | Space vector PWM modulator for permanent magnet motor drive |
WO2005104743A2 (en) * | 2004-04-26 | 2005-11-10 | Rowan Electric, Inc. | Adaptive gate drive for switching devices of inverter |
EP1670135B1 (de) | 2004-12-10 | 2009-04-08 | Abb Research Ltd. | Verfahren zum Betrieb einer rotierenden elektrischen Maschine |
CN100468938C (zh) | 2005-03-01 | 2009-03-11 | 广东明阳龙源电力电子有限公司 | 一种三电平逆变器的控制系统及方法 |
JP5056817B2 (ja) * | 2009-08-25 | 2012-10-24 | 株式会社デンソー | 回転機の制御装置 |
-
2008
- 2008-11-12 CA CA2705721A patent/CA2705721A1/en not_active Abandoned
- 2008-11-12 CN CN2008801226864A patent/CN101904086B/zh not_active Expired - Fee Related
- 2008-11-12 AT AT08865335T patent/ATE522978T1/de active
- 2008-11-12 RU RU2010130263/07A patent/RU2464699C2/ru not_active IP Right Cessation
- 2008-11-12 ES ES08865335T patent/ES2371803T3/es active Active
- 2008-11-12 EP EP08865335A patent/EP2223426B1/de not_active Not-in-force
- 2008-11-12 WO PCT/EP2008/065354 patent/WO2009080407A1/de active Application Filing
- 2008-11-12 KR KR1020107013385A patent/KR101520518B1/ko not_active IP Right Cessation
- 2008-11-12 PL PL08865335T patent/PL2223426T3/pl unknown
- 2008-11-12 JP JP2010538523A patent/JP5474818B2/ja not_active Expired - Fee Related
-
2010
- 2010-06-17 US US12/817,865 patent/US8222845B2/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO2009080407A1 * |
Also Published As
Publication number | Publication date |
---|---|
CA2705721A1 (en) | 2009-07-02 |
US8222845B2 (en) | 2012-07-17 |
KR101520518B1 (ko) | 2015-05-14 |
WO2009080407A1 (de) | 2009-07-02 |
ES2371803T3 (es) | 2012-01-10 |
ATE522978T1 (de) | 2011-09-15 |
US20100253269A1 (en) | 2010-10-07 |
PL2223426T3 (pl) | 2012-01-31 |
CN101904086B (zh) | 2013-05-01 |
KR20100092957A (ko) | 2010-08-23 |
RU2464699C2 (ru) | 2012-10-20 |
JP5474818B2 (ja) | 2014-04-16 |
JP2011519253A (ja) | 2011-06-30 |
RU2010130263A (ru) | 2012-01-27 |
EP2223426B1 (de) | 2011-08-31 |
CN101904086A (zh) | 2010-12-01 |
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